EP1812200B2 - Vorrichtung zur ausführung eines füge-, trenn- oder oberflächenbehandlungsverfahrens, insbesondere eines schweissverfahrens - Google Patents

Vorrichtung zur ausführung eines füge-, trenn- oder oberflächenbehandlungsverfahrens, insbesondere eines schweissverfahrens Download PDF

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Publication number
EP1812200B2
EP1812200B2 EP05701326.0A EP05701326A EP1812200B2 EP 1812200 B2 EP1812200 B2 EP 1812200B2 EP 05701326 A EP05701326 A EP 05701326A EP 1812200 B2 EP1812200 B2 EP 1812200B2
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EP
European Patent Office
Prior art keywords
welding
welding head
sensor means
head
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP05701326.0A
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German (de)
English (en)
French (fr)
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EP1812200B1 (de
EP1812200A1 (de
Inventor
Erdogan Karakas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ILHUNG MANUFACTURING Co Ltd
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Ilhung Manufacturing Co Ltd
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Application filed by Ilhung Manufacturing Co Ltd filed Critical Ilhung Manufacturing Co Ltd
Priority to PL05701326T priority Critical patent/PL1812200T3/pl
Publication of EP1812200A1 publication Critical patent/EP1812200A1/de
Publication of EP1812200B1 publication Critical patent/EP1812200B1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
    • B23K9/1087—Arc welding using remote control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters

Definitions

  • the invention relates to a device referred to in the preamble of claim 1 for performing a welding method.
  • Such devices are well known in the form of welding devices and serve, for example, to perform arc welding processes.
  • a welding task which consists, for example in the production of a container without exposing the arc, to form a coherent weld having a horizontal seam portion (well position) to which a vertically extending seam portion (rising position) , then again a horizontally extending seam portion (overhead position) and finally a vertical seam portion (fall position) connects, which adjoins the first formed horizontally extending seam portion, it is necessary that a welding operator operating the position of the welding head during the welding process changes relative to the workpieces to be welded.
  • a disadvantage of this known welding device is that the choice of the applicable welding program must be made by the worker, which has led in practice to the fact that the worker may perform all parts of a welding task with the same welding program for the sake of saving time and convenience to the To avoid switching between the welding programs. Since a welding program can always be optimized only for a part of the welding task, for example welding in trough position, this leads in practice to the quality of the weld seam compared to a weld seam formed using the respectively optimized welding program for each seam section has deteriorated.
  • the invention has for its object to provide a device referred to in the preamble of claim 1, which does not have the disadvantage of the known device, in which therefore the quality of the work results in carrying out the welding process is increased, and which is easy and convenient to use ,
  • the basic idea of the teaching relates to a welding device in which the welding energy is provided by a welding current or a welding voltage therein, the position of the welding head and / or position changes of the welding head relative to a reference position of the workhead and / or a reference point in space and / or to sense the workpieces to be welded by sensor means.
  • the characteristics of the welding process or at least one of these parameters can be influenced in terms of their values as a function of the sensed position and / or positional change.
  • the parameters of the welding process can be assigned values which are adapted to the respective welding task.
  • the assignment of the values takes place here depending on the sensed position and / or changes in position of the welding head from or from which results, which welding task is carried out in each case.
  • the parameters of the welding process which can be influenced as a function of a position and / or change in position of the welding head sensed by the sensor means include at least the amplitude and / or the waveform, in particular pulse shape, and / or the pulse modulation of the welding current and / or the welding voltage.
  • the operation of the welding device is substantially simplified and the quality of the welded joints produced by the welding device, ie, for example, welds or welds, significantly increased.
  • an optical or audible signal may be generated which indicates to the operator that a different welding program is to be selected. For example, if, after forming a weld in trough position, the welding head is rotated about 90 °, for example, to weld in rising position, a signal may be generated which indicates to the worker that now to select a welding program optimized for welding in rising position is.
  • control means are provided which, on the basis of output signals from the sensor means, detect the position of the welding head or changes in position of the welding head and influence parameters of the method with respect to their values as a function of the detected position or positional change.
  • the welding head Under a welding head that part of a Device understood acted on during the machining process on the workpieces to be machined, so for example, during a welding process, the welding energy is introduced into the workpieces to be welded together.
  • the welding head may be formed by welding tongs, while in an arc welding method, it may be formed by, for example, a torch on which the welding wire is guided.
  • a welding process is understood to mean the process of forming a welded connection, that is to say a weld seam.
  • the sensor means provided can detect the position and / or positional changes of the welding head relative to a reference position and / or a reference point in space according to the respective requirements, wherein the position changes are both translational and rotational position changes as well as combinations of translational with rotational position changes.
  • the device is particularly well suited for carrying out any welding process.
  • the welding method may be a resistance welding method, an arc welding method, in particular an inert gas arc welding method.
  • the teaching according to the invention provides control means connected to the sensor means for the automatic control and / or regulation of at least one parameter of the welding process, as a function of the position sensed by the sensor means and / or Changes in position of the welding head before.
  • a control or regulation of at least one parameter of the welding process, depending on the sensed by the sensor means position and / or change in position of the welding head allows, so that the operation of the device according to the invention is particularly simple and the quality of the welded joint is further increased ,
  • the device is designed as a welding device for carrying out a welding process and the welding head for emitting welding energy to the workpieces to be welded.
  • control means are connected to a welding head supplying the welding head with welding energy source for driving the same, such that at least one characteristic of the welding process in dependence on the sensed by the sensor means position and / or change in position of the welding head on the Welding power source is controlled and / or regulated.
  • control or regulation of parameters of the welding process takes place at the welding energy source.
  • the sensor means comprise at least one sensor for sensing a rotational position and / or rotational position changes of the welding head. It can be determined by the sensor, for example, if the welding head is rotated to, for example, at a welding device to go from a welding in trough position to a welding in climbing position.
  • the teaching of the invention further provides that the sensor means have at least one sensor for sensing translational changes in position of the welding head.
  • it can be sensed by the sensor whether the welding head moves in a translatory manner, for example when forming a weld seam.
  • any suitable sensors or sensor arrangements can be used.
  • an ultrasonic transmitter can be arranged on the welding head, which emits ultrasonic waves that are received by a stationary ultrasonic receiver. From the transit time of the ultrasonic waves from the ultrasonic transmitter and thus the welding head to the ultrasonic receiver, the distance of the welding head from the ultrasonic transmitter can then be determined.
  • the ultrasonic waves of two spatially spaced apart arranged ultrasonic receivers can be received, so that due to the change in distance of the welding head to each of the two ultrasonic receiver translational changes in position of the welding head can be determined.
  • three spatially mutually spaced ultrasonic receivers may be provided, so that the position of the welding head in the three-dimensional space or position changes can be clearly detected from the respective distance of the welding head from each of the ultrasonic receivers .
  • translational position changes can also be detected, for example, with optical sensor means.
  • the distance of the welding head from a reference point can be determined, for example, by means of a laser interferometer. In this way, translational changes in position of the welding head via two independent laser interferometer and changes in position of the welding head in three-dimensional space by means of three mutually independent laser interferometer can be detected.
  • a development of the aforementioned embodiment provides that the sensor, the speed and / or acceleration of a translatory and / or rotative movement of the welding head. In this way, an even further influencing of parameters of the welding process can take place.
  • the amplitude of the welding current may be influenced depending on the speed with which the welding head moves over the workpieces to be welded together in forming a welded joint.
  • a predetermined amplitude of the welding current can be selected during welding at a relatively low speed of the welding head relative to the workpieces to be welded, while Increasing the speed increases the amplitude of the welding current.
  • sensors such as MMA 6260 Q, MMA 6261 Q, MMA 6262 Q and MMA 6263 Q from Freescale Semiconductor, Inc., Alma School Road Chandler, Arizona, USA (www .freescale.com).
  • a welding robot According to the respective requirements of the welding head during the machining process by hand or by a handling device, in particular a welding robot can be feasible.
  • the welding method may be a resistance welding method, an arc welding method or a shielding gas arc welding method.
  • the welding device according to the invention is used to carry out a resistance welding process
  • an advantageous further development of the welding device according to the invention provides that the parameters of the welding process which can be influenced depending on the position or change in position of the welding head sensed by the sensor means apply a contact pressure to at least one welding electrode of the welding head include one of the workpieces to be welded.
  • a welding device which is used for carrying out an arc welding process in which additional material is supplied in the form of a welding wire, provides that the parameters which can be influenced as a function of the position or changes in position of the welding head sensed by the sensor means of the welding process comprise a feeding speed of at least one welding wire guided on the welding head.
  • the device is a welding torch.
  • the position of a sensor or sensors of the sensor means relative to the welding head can be selected in any suitable manner, as long as it is ensured that in the respectively required manner the position or position changes of the welding head can be detected.
  • a development of the teaching according to the invention provides that at least one sensor of the sensor means is arranged on the welding head, in particular integrated in the welding head.
  • a reference position of the welding head can already be predetermined at the factory in the production of the device according to the invention.
  • the reference layer may be a layer in which a welding head is arranged so that in the trough position, that is, to form a substantially horizontally extending weld, welded.
  • control means assign predetermined values to the characteristics of the welding process as a function of the selected reference position and / or the position sensed by the sensor means and / or changes in position of the welding head.
  • values corresponding to a characteristic may be assigned to the characteristics of the welding process. For example, when welding sheets of a given thickness, welding in the cup position, welding in the rising position, welding in the overhead position, and welding in the falling position may each be assigned a set of values of the characteristics.
  • control means automatically control or regulate parameters of the welding process during the welding process.
  • the control or regulation of the parameters can be temporally or spatially, for example, based on a weld, continuously.
  • Another development of the teaching according to the invention provides a display device for displaying a selected by the control means in response to output signals of the sensor means operating mode of the device.
  • an operating mode of the apparatus such as a welding program selected by the control means, may be indicated by the display means, so that the worker is informed as to which welding program he respectively welds.
  • the display of the respective operating mode enables the worker to check the operation of the sensor means and the control means for plausibility and thus to detect, for example, faults.
  • an influencing of characteristics of the welding process is carried out automatically by control means, so that no manual intervention by the worker is required and at the same time it is ensured that the device is always in a suitable operating mode, ie with a welding device with a the respective position of the welding head adapted welding program is welded. If manual intervention by the worker is to be permitted by the control means in addition to an automatic influencing of parameters of the welding process, an advantageous development of the teaching according to the invention provides an operating device for the manual selection of an operating mode of the device.
  • This embodiment is also particularly advantageous if influencing the parameters to be influenced is not fully automatic by the control means, but the worker is displayed in response to output signals of the sensor means that another mode of operation of the device, in a welding device to select another welding program, the selection of the operating mode, as a result of which the characteristics of the method are influenced, but manually by a worker.
  • control means influence the parameter or characteristics in such a way that the method can be carried out without interruption.
  • control means influence the parameter or characteristics in such a way that the method can be carried out without interruption.
  • the control means influence the parameter or characteristics in such a way that the method can be carried out without interruption.
  • an influencing of values of the parameters takes place so rapidly that, for example, in the case of a welding device, the values of the characteristic variables adapted to the respective welding position are worked on during the transition from the trough position into the rising position.
  • control means can influence the parameter or the parameters continuously over time, as provided by further developments of the teaching according to the invention.
  • Another development of the teaching according to the invention provides that different positions of the welding head are assigned different values of at least one parameter and that the control means of the respective characteristic in dependence on the sensed by the sensor means position of the welding head assign a value.
  • At least one first position of the welding head, a first value of at least one characteristic and at least one second position of the welding head is assigned a second value of the characteristic or the characteristics and that the control means of the characteristic assign the first value, when an output signal of the sensor means indicates that the welding head is in the first position and that the control means assigns the characteristic value to the second value when an output signal of the sensor means indicates that the welding head is in the second position.
  • a first embodiment of a device in the form of a welding device 2 is shown, which is designed in this embodiment for carrying out an arc welding process and has a welding torch designed as a welding head 4 for delivering welding energy to be welded workpieces.
  • a welding energy source 6 is provided, which supplies a welding current to the welding head 4. The welding current flows through an in Fig.
  • a dashed line 8 welding wire continuously supplied to the welding head 4 during the welding process and forms an electrode in the arc welding process, wherein when forming a welded joint, such as a weld, an arc between the welding wire 8 and the workpieces to be welded burns ,
  • the welding current is supplied to the welding head 4 via a supply line 10.
  • a control line 12 is provided to transmit control signals from the welding head 4 to the source 6.
  • the welding device 2 has sensor means for sensing the position or changes in position of the welding head 4 relative to a reference position of the welding head 4 and / or to be welded workpieces, such that at least one characteristic of the welding process in dependence on the sensed position and / or Long changes is influenced.
  • the sensor means in this embodiment have a first sensor 14 for sensing a rotational position and / or rotational position changes of the welding head 4, which will be described below with reference to FIGS. 3 and 4 is explained in more detail.
  • the sensor means further comprise in this embodiment, a second sensor 16, which senses translational movements as well as the speed and / or acceleration of a translational movement of the welding head.
  • the sensors 14, 16 are integrated in the welding head in this embodiment.
  • the welding device 2 further comprises control means connected to the sensors 14, 16 for the automatic control and / or regulation of at least one parameter of the welding process as a function of the position and / or position changes of the welding head 4 sensed by the sensors 14, 16.
  • the control means comprise in this embodiment, a control unit 18, outputs of the sensors 14, 16 input signals of the control unit 18, the output signals are fed to a built-in source 6 controller 20, which in dependence on the output signals of the control unit 18 parameters of the welding process, in particular controls or regulates the amplitude of a welding current supplied by the source 6 to the welding head 4.
  • a second embodiment of a welding device 2 is shown, which differs from the embodiment according to Fig. 1 differs in that the controller 20 is not integrated into the source 6, but is designed as a separate control unit.
  • Fig. 3 is highly schematic illustrates the operation of the first sensor 14.
  • the first sensor 14 has a housing 22 designed as a hollow body, which in this embodiment essentially has the shape of a regular octahedron, in the interior of which a small amount of mercury 24 is accommodated.
  • a pair of electrical contacts are arranged, of which Fig. 1 only a pair of contacts with the reference numerals 38, 40 is provided.
  • the mercury 24 collects in the region of the tip 30 and establishes an electrically conductive connection between the contacts associated with this tip 30, so that a control current can flow between these contacts. In this way, it can be determined by the control unit 18, that the housing 22 and thus also the welding head 4 in a opposite Fig. 1 respectively.
  • Fig. 3 is rotated by 90 ° in a clockwise direction. In this way, any changes in the rotational position of the housing 22 and thus of the welding head 4 can be seen around all three axes in space.
  • pairs of contacts 38, 40 at the tips 26, 28, 30, 32, 34, 36 of the housing is to be understood merely by way of example. To make the detection of changes in position more accurate, additional pairs of contacts 38, 40 may be provided.
  • first sensor 14 whose housing 20 may be formed differently, for example, as a ball 42, as in Fig. 4 shown.
  • a particularly accurate detection of changes in the rotational position of the housing 22 of the first sensor 14 and thus of the welding head 4 is possible.
  • the welding of four plates 44, 46, 48, 50, the yourself in Fig. 5 extend perpendicular to the plane of the drawing, with a fifth plate 52, the in Fig. 5 in the drawing plane.
  • the welding head 4 in Fig. 5 moved to the left in the direction of an arrow 54 along the joint area of the plates 44, 52, wherein between the in Fig. 5 Welding wire, not shown, and the plates 44, 52 to be welded together form an arc, which leads to the formation of a welded joint in the form of a weld.
  • the source 6 in this case leads the welding head 4 to a welding current with an amplitude of for example 150 A to.
  • the first sensor 14 senses the rotational position of the welding head 4 relative to that in FIG Fig. 1 and 5 illustrated reference position, while the second sensor 16, the speed of movement of the welding head 4 in the direction of arrow 54 senses.
  • a corresponding signal is transmitted from the control unit 18 to the control unit of the source 6, which then increases the amplitude of the welding current to keep the path energy constant. If, on the other hand, it is determined by the second sensor 16 that the speed with which the welding head 4 is moved in the direction of the arrow 54 is reduced, the control unit 18 transmits to the control unit 20 a corresponding signal, which then determines the amplitude of the signal from the source 6 reduced welding current available. In this way it is ensured that the path energy remains constant during the welding process.
  • the rotational position of the welding head 4 is changed, for example, by an axis perpendicular to the plane of the drawing, as in FIG Fig. 6 illustrated, this change in the rotational position is detected by the first sensor 14 and a corresponding signal transmitted by the control unit 18 to the control unit 20.
  • the control unit 20 can then influence at least one parameter of the welding process, for example, in turn, the amplitude of the welding current, in order to obtain an optimum welding result.
  • the welding head 4 If the welding head 4 is again rotated about an axis perpendicular to the plane of drawing to form a weld between the plate 46 and the plate 52 and is welded accordingly in the rising position, the change of the rotational position is detected by the first sensor 14, and Control unit 18 transmits to the control unit 20 of the source 6 a corresponding signal. Since welding in the riser position involves welding at a slower speed than welding in the trough position, the controller 20 then reduces the welding current, which may then be 90A, for example.
  • the controller 20 may control the welding current so that during a relatively high speed welding movement of the welding head 4, a relatively high welding current and during a movement of the welding head 4 at a relatively low speed, in particular at standstill, a reduced welding current is used.
  • the controller 20 may in response to the output signal of the sensors 14, 16 and a resulting output of the control unit 18 again affect at least one parameter of the welding process, for example, the amplitude of the welding current, for example, increase.
  • the control unit 20 of the source 6 reduces the Amplitude of the welding current then so far that the material of the plates 48, 52 to be welded together is just as far liquefied, as is required to form a welded joint, at the same time, however, a dripping of the material is prevented.
  • the welding current amplitude can be reduced to 80 A when welding in overhead position.
  • the welding current can be increased again when it is determined from the output signal of the first sensor 14 that the welding head 4 is rotated again to form a welding seam between the plate 50 and the plate 52 in case position.
  • the welds required to connect the plates 44, 46, 48, 50 can be formed without exposing the arc, wherein the influencing of parameters of the welding process, in the described embodiment of the welding current, automatically by the control unit 18 and the control unit 20 in dependence output signals of the sensors 14, 16 of the sensor means take place without the need for manual intervention by a worker.
  • the control unit 20 may in this case be preprogrammed so that the welding result is optimized as a function of the respective position or change in position of the welding head 4.
  • an operating device 56 for example, for the manual selection of certain welding programs, be provided, and the respective selected Sch healthgrogramm can be displayed via a display device 58.
  • Fig. 10 represents a characteristic field, where A1 to An denote different welding tasks and P1 to Pn denote different positions of the welding head.
  • the assignment of values of the parameters can be effected as a function of the respective welding task and as a function of the respective position of the welding head, the welding tasks being, for example, with regard to the thickness and / or the material can distinguish between the workpieces to be welded together.
  • Fig. 11 is a highly schematic representation of a container formed of sheets to be welded together.
  • Welding device 2 Before performing welding operations using the in Fig. 11 Welding device 2, not shown, is first moved to a reference point P0.
  • a first welding task namely forming a weld in the tub position between a bottom plate 60 and a vertical side plate 62, starting from a point P2 second welding task, namely to form a weld seam as a stitching seam between a vertical side plate 64 and a vertical side plate 66 and starting from a point P3
  • a third welding task namely to form a weld seam as an overhead seam between the vertical side plate 66 and an upper plate 68.
  • the welding device 2 is first moved to the reference point P0 and the achievement of the reference point P0 displayed by pressing, for example, a button of the operating device 56 the control means. If the welding device 2 is moved starting from the reference point P0, then the sensor means detect the position and / or position changes of the welding device in three-dimensional space. If the welding device is moved along the x-axis, for example, this movement is detected by the sensor means. When the point P1 is reached, the control means allocate values to the parameters of the welding process which are optimally adapted to the welding task to be carried out there, namely welding in the tub position. The worker can thus create the weld between the vertical side panel 62 and the floor panel 60.
  • the sensor means again sense the position of the welding head of the welding device 2 or position changes in three-dimensional space.
  • One Achieving the point P2 is indicated to the control means by corresponding output signals of the sensor means, the control means then assign values to the characteristics of the welding process, which optimally to the welding task to be performed starting from the point P2, namely forming a weld seam between the sheets 64, 68 are adapted. After that, the worker can form the corresponding weld.
  • the sensor means again sense the position of the welding head 4 of the welding device 2 or changes in position in the three-dimensional space. If output signals of the sensor means indicate to the control means that the welding head 4 of the welding device 2 is at the point P3, then the control means optimally allocate to the characteristics of the welding process values corresponding to the welding task to be performed, namely forming a weld in overhead position are adapted. After that, the worker can form the corresponding weld.
  • a fully automatic position detection with respect to the position of the welding head 4 of the welding device 2 and a fully automatic adjustment of the values of the parameters of the welding process to the respective welding task to be performed is performed.
  • the characteristics of the welding process can be used and influenced.
  • each refer to a welding in the tub position can be carried out in the implementation of the first welding task with a welding current, which is adapted to a welding thicker sheets together, while in second welding task can be performed with a welding current, which is adapted to a welding of thinner sheets. This results in a particularly high degree of flexibility with regard to the influencing of the parameters.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Arc Welding In General (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
EP05701326.0A 2004-10-13 2005-02-03 Vorrichtung zur ausführung eines füge-, trenn- oder oberflächenbehandlungsverfahrens, insbesondere eines schweissverfahrens Expired - Lifetime EP1812200B2 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL05701326T PL1812200T3 (pl) 2004-10-13 2005-02-03 Urządzenie do wykonywania procesu obróbki spajającej, dzielącej albo powierzchniowej, zwłaszcza procesu spawania

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004049957 2004-10-13
PCT/EP2005/001060 WO2006042572A1 (de) 2004-10-13 2005-02-03 Vorrichtung zur ausführung eines füge-, trenn- oder oberflächenbehanlungsverfahrens, insbesondere eines schweissverfahrens

Publications (3)

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EP1812200A1 EP1812200A1 (de) 2007-08-01
EP1812200B1 EP1812200B1 (de) 2009-05-13
EP1812200B2 true EP1812200B2 (de) 2018-06-20

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US (1) US20070187378A1 (enExample)
EP (1) EP1812200B2 (enExample)
JP (1) JP5081624B2 (enExample)
KR (2) KR101166320B1 (enExample)
CN (1) CN100528463C (enExample)
AT (1) ATE431218T1 (enExample)
DE (1) DE502005007293D1 (enExample)
DK (1) DK1812200T3 (enExample)
ES (1) ES2327136T3 (enExample)
PL (1) PL1812200T3 (enExample)
WO (1) WO2006042572A1 (enExample)

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ES2327136T3 (es) 2009-10-26
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KR101166320B1 (ko) 2012-07-18
KR101145025B1 (ko) 2012-05-17
DK1812200T3 (da) 2009-09-07
JP5081624B2 (ja) 2012-11-28
JP2008515646A (ja) 2008-05-15
CN100528463C (zh) 2009-08-19
US20070187378A1 (en) 2007-08-16
DE502005007293D1 (de) 2009-06-25
WO2006042572A1 (de) 2006-04-27
KR20070085350A (ko) 2007-08-27
KR20110113665A (ko) 2011-10-17
PL1812200T3 (pl) 2009-12-31
EP1812200A1 (de) 2007-08-01
CN101068648A (zh) 2007-11-07

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